201025827 六、發明說明： 【發明所屬之技術領域】 本發明係有關一種伺服馬達低速控制方法與裝置，尤 指一種使用現有的伺服晶片與編碼器，利用内插計算的方 法’產生高解析度編碼器訊號’利用既有的編碼器傳輸格 式’傳輪到現有的伺服控制晶片’而使低速度控制可以在 目前現有的資源完成與實現。 【先前技術】 按’隨著科技的進步，伺服馬達控制不管是在傳統產業 或科技產業方面，都扮演的相當重要的關鍵組件，但由於 晶片設計的技術提高，朝高精度控制方向邁進在伺服馬達 控制領域是必然的趨勢。於高精度控制方法的實現上，對 ;所採用伺服控制晶片的性能或編石馬器的解析度有極高的 =格與要求，但市售的伺服控制晶片或編碼器功能與性能 就一般用途’若要使用特殊規格控制晶片或編碼器， 編；===此必須尋求利用既有的伺服控制晶片與 必須^ w i夠提升伺服驅動器性能的法，此方法 碼器：解析制晶片的傳輸界面，同時提高既有編 室内環境條；更二：顧$伺服驅動器所處的環境比-般 的容忍程度，或錄訊必彡貞要有更大 … 肩要有濾除的能力或方法。 目則解析度較低的編碼器的 析度較高的編碼器傳專輪秸式為並列傳輸，而解 傳輸格切Μ列傳輸為主，且其腳位 201025827 數目與解析度較低編碼器不 服控制晶片對於資料，、、馬态搭配市售的伺 串列傳輸，因此;=1：僅支援並列傳輪，而不支援 器的串列傳輸，並；制晶片二對於高解析度編碼 驅動器的性能將被編碼器的：二:;:”，因此伺服 的词服控制晶片去做達到“ Z要使用市售 伺服驅動器規格，若欲對雇1…法達到高性能 收，必須多增加-顆=析度的編碼器的資料接 a夕曰加m乍的伺服控制晶片 若不使用訂作的伺服控制aV片口^^成本， 晶片也必須支援高解析产編二，的伺服控制 地採購成本純市㈣服控制W為高，不利於大量採用1 若未使用高解析度的編碼器，通常,㈣作 機構去達到低轉速輸出的要求，但是使用減速機 ' 司 服馬達機構的體積就會增加許多，整體機 ，高，且減速機構也有因磨耗降低壽命的=成二二 日守維修及更換’因此造成系統成本的増加，且二 構後，將造成高低速換檔會有不順暢的情況，因此二处 使用減速機構卻能達到高速度控制比的性能要长，不 效益的效果就會呈現’而且若能使用低解^度的編二，濟 來j到高速度控制比的性能要求，高經㈣ 顯著。 句 有關於習知改良伺服馬達低速控制架構，社參 發明專利US65關m，其中伺服馬達位置感測；輪^國 為弦波’將弦波經過類比數位轉換晶片後，經過處理= 部轉換後’將伺服馬達位置傳輸出去，其所採用的方 5 201025827 將類比數位晶片的輸出資料，經過表格對應後，根據伺服 馬達當時的速度，使用不同的方塊模組，計算出伺服馬達 位置而編碼S解析度則是根據處理㈣處理速度與計算 位元的數目決定解析度，而非固定的解析度。 Ο Ο 而本案的編碼器則是採用目前市面上的編碼器，其解 析率已、工固定’經過本案所提出的方法將其解析度增加， =將資料傳輸給伺服控制晶片，從f知案件與本案的說明 中苗可以得到習知案件與本發明的目的都是提高伺服馬達 析度’但是差別是在於’習知案件必須先把伺服 3感測器弦波訊號經過類比數位晶片，其中類比數位晶 會影響伺服馬達的解析度，且處理器的位元數 的解析度也有影響’且伺服晶片也必須有傳輸 腳位支㈣理1的餘騎位錢出倾格式。 【發明内容】 基於解決以上所述習知技蓺 馬達低速控制方法與裝置，：== 本發明為-種伺服 主要目的提出^一種方法盘怒 ::吏，的他晶片與編碼器，利用内播計算的方法 產生兩解析度編碼器訊號，利用 傳輸到現有的伺服控制晶片 ❹11格式’ 現有的資^錢實現。Μ低速奸料以在目前 哭解析产^ ^目的在於&用訊號處理的觀念，提高編碼 精度控制的性能規格，也因為使用訊號 Π=ίΓ對!高雜m環境下的蝙瑪器資料傳輸 Sb_妹隹的訊號品質，即使在高雜訊環境下’高 201025827 訊號品質高解析度的編碼器 與出現傳輸錯誤，使得低傳輸訊號，能夠不被影響 更精細更寬廣的速度控制範圍工。1]性能規格能被實現，達到 為達上述目的，本發 置，其係包括有： ‘、’、種伺服馬達低速控制裝 一伺服馬達； 並經編碼竹 -編碼器’由該伺服馬達 ❹ 業後輸出-低解析度編;J度的㈣ ，· 一插入值計算單元 i， 碼信號，並以内插數崎輪出之低解析度》 變成高解析度編碼作、’使該低解析度編碼信号 -伺服控制晶片，用二接= 輪出該高解析度編碼信號 解析度編碼信號，經::插入值計算單元所輸出$ 令’且具有内部參數〜鼻處理後輪出-開關控制名 一電源模組，以及 ❹ 令給飼服馬達，·以調整2 =片所輪出的開關控制指 為進-步對本^ ^㈣達的速度。 圖號說明及發明詳細說明，費=的說明，乃藉由以下圖示、 作有所助益。 ”迠對責審查委員於審查工 【實施方式】 茲配5下列之圖式說 關係，以利於f審委做明之詳細結構，及; 本發明接屮 瞭解。 r乃紅出—種架構 晶片的編碼器界面，可 支接目前市場上的伺艰 肖編㈤時提升低速 201025827 精準度；亦可使用高解析度的編石馬器更 編碼器的效能。而不被編碼器解析度；升高解折 因此對於編瑪器的解析度選擇， &動益的性能， 使用減速機構的情況下，體積Μ =向的彈性，且不 上的說明，此方法且都可以節省。整合以 對於楹體積小、擴充*實用二 以估田升服馬達驅動器的編碼器解析度的方淒 向’ 以使用既有的伺服控制晶片 ’不僅可 % <1 器的性能。 问原有伺服馬達驅動 :同時參閱圖一、二所不，其令伺 。其係包括有：一伺服馬⑹； '編碼：達：迷控制裝 ^獲得速度的信號，並經編碼作業後輪出，伺服馬 α I，該編碼器輸出為一方波訊號，且該由▲析度編碼 =號或單端訊號’該編碼器!所輸出低解析声：號可為差 ，出格式係為並列輸出；一插入值計算單元3，、扁碼信號的 #單元3的組成包括有：一低通濾波器&、一 插入值计 32、-内插值計算單元33、-位置計算單元^緣偵測單元 :及-多工器36,接收該編碼器!所輪出析器 就，並以内插數值的方式使該低解析度 :度編碼# ^度編碼信號，並輸出該高解析度編碼信號，。，變成高解 算單元3之内插數值方法係為使由編碼II所，入值°十 波數增加，並將此訊號提供給該伺服控制晶片%入Λ號的方 度可以透過祠服控制晶片4内部參數設定來’增加解析 值的計算方式為根據該伺服控制晶片4内 °亥内插數 數值，與當時編碼器2解析度數值，計算出I、、'解析度的 數’再根據當時伺服馬達味度與速插方錢 又P 7叶鼻輸出頻率 8 201025827 ί值出J -伺服控制晶片4,用以接收該插 於出一 Μ :70别出高解析度編碼信號，經由運算處理後 “ ’且具㈣部減設定魏，該饲服 2有將總te'/、有雜訊抑制功能，該伺服控制晶片4更係 接為談☆差動錢轉為單端訊號功能；—電源模組5， 二二5敕服控制晶片4所輪出的開關控制指令給伺服馬達 1以5周整伺服馬達1的速度。 ❹ ❹ 司服控制晶片4的連接界面有兩種，對應接收編碼 ^内約]界面亦有兩種，一種為並列數位傳輸，因此可以 都拍=置的資料直接傳輸給伺服控制晶片4;-種為增量 服控制日L可將内插數值的位置#料改為方波輸出到飼 伺月I杵:曰。將編碼器2的訊號經過運算處理後，傳輸給 曰曰片4，其中編碼器2格式轉換成伺服控制晶片4 “輯:^二插入值計算單元3可以使用一可程式化 日日UPGA)，内部使用一低通濾波器31 (LPF)濾 十：i再經過邊緣偵測單元32、内插值計算單元33、位 ^异早元34、比較器35及多工器36做信號處理，將轉換 來的較高解析度編碼訊號給伺服控制晶片丨。 係f明參閱圖四所示，係為圖三較為詳細電路架構圖，其 藉八AU步揭路該伺服控制晶片4的組成包括有：一速度比例 ‘微ΐ控制器41、—電流比例積分微分控制m -電 控制’d 一速度監測器44及一編碼器界面45。將伺服 單元界面45轉換的功能也包含在插入值計算 晶 服控制的本發明在提高㈣度的方法能夠不被伺 制曰曰片4與編碼器2輸入界面所限制，對於伺服控制 9 201025827 片4的種類能夠具有較高的彈性。整合以上 本發明的優點如下： _淪可以了解 (1)提高編碼器的解析度； ⑺對於高雜訊環境下，能夠除㈣訊 ⑺對於不同伺服控制晶片編碼器界面都能厶 限於伺服控制晶片的型式； 勺處理，不受 (4)提供伺服驅動器較佳的編 目標。 貝针達到低速控制的 Ο 請參閱圖五所示，係為本發明插入值計 控制晶片之動作流程示意圖，並請同時參伺服 揭露的架構，包括有下列步驟： ’·圖一、四 61〜編碼信號輸入’並經由一低通濾波 62 63 撕令輸入’並經由一低通滤波器祕：：： —邊緣㈣單7C接收已雜訊之編竭㈣，該 信，使邊緣偵測單元觸發一内插值計算單^動;編 碼信號係為-方波，邊緣_即為偵測方 ： 低電位的方法； ^ ^ 64〜内插值計算單元同時接收編碼信號及速度命令， 處理以增加訊號解析度； 7 ^ 65〜内插值計算單元完成增加訊號解析度的工作，並將 的訊號解析度位置輸出； ' 4 '一比較器接收内插值計算單元新的訊號解析度位置， 並接收-位置計算單元所預設訊號解析度，並將二者加 以比較，並判斷内插值計算單元新的訊號解析度是否符 合預設訊號解析度，若内插值計算單元新的訊號解析度 66 201025827 符合計算單元所預設訊號解析度，則藉由一多工器將該 訊號解析度輸出；若内插值計算單元新的訊號解析度未 符合計算單元所預設訊號解析度，則使内插值計算$元 繼續計算處理以增加訊號解析度； 67〜伺服控制晶片的速度監測器抓取訊號解析度位置； 68〜伺服控制晶片的速度比例積分控制器根據速度監測器 抓取訊號解析度位置以及電流比例積分微分控制器的 參數，來計算伺服馬達應調整之速度； ❿69〜伺服控制晶片運算處理後輸出一開關控制指令。 上述步驟63至66皆在插入值計算單元8之内部完成而 步驟67至69皆在伺服控制晶片9内部完成。利用該二元件的 作動’即可精確控制伺服馬達低速轉速。 回路時間為原有架構在每次運算過程，所花費的時 間。若不採用本架構圖中所示的流程，在低速運轉中，若 使用編碼器，每次回路時間伺服控制晶片接收到的位置資 ❷料會，有改變，造成控制演算法的輸出資料會有較大波 •動，若採用圖五中的流程，將内插後的資料傳輸到飼服控 制晶片9,則每次控制㈣法所計算出來的值都有改變^ 得控制過程中的波動會較小。步驟63中接收到編碼器的邊 緣觸發改變喊，就執㈣插過程，_當時速度命令與 伺服馬達速度’計算新的位置，滿足内插條件後，將新的 位置輸出到伺服控制晶片，使伺服控制晶片依據當時位置 做速度控制。 明參閱圖六所示，係為本發明伺服馬達低速控制裝置 201025827 ’ ’㈣三的差異僅在於插入值計算 =^1=服_4内部，因此可以將整個運算過 .的特殊功能，舰控制晶片内部’增加舰控制晶片4 人值示’係為本發明編碼器輸出信號經由插 也舉由内插數值處理後的信號變化圖’本發明 處理例子，關於將編碼器的方波… β控：ί?:得到高解析度的編碼器訊號，輸入到伺服 處理後的/、中T1代表編鳴器Α相訊號的周期，Α，與β，為 處理二3 =號，輸出到伺服控制晶片。由圖_可知， 號為伺斤度增加為處理前的兩倍，假設原先的訊 可得_個脈衝=為1000個脈衝波，處理後祠服馬達一圈 時所輪出二器為增量型編碼器 信號變化圖，再與 早兀厶由内插數值處理後的 ❹為增量型蝙石馬器I固貫際例子’當本發明的輪出訊號 .何，因為輸出i二舍二山就必須決定輸出的解柯度為 計算的公式之後^ 於出方波個叛與頻率需要決定， 後，按照圖五的、: 1出方波個數與頻率公式決定 程，滿足内觸發後，執行内插流 201025827 内插演算式:⑴輸出數位資料形式 新的位置=目前位置 速度命令X最1速度内插值 最高速度201025827 VI. Description of the Invention: [Technical Field] The present invention relates to a method and apparatus for controlling low speed of a servo motor, and more particularly to a method for generating high resolution code by using an interpolation method using an existing servo chip and encoder. The signal 'utilizes the existing encoder transmission format' to the existing servo control chip' so that low speed control can be completed and implemented in the existing resources. [Prior Art] According to the advancement of technology, servo motor control plays a very important key component in both the traditional industry and the technology industry. However, due to the improvement of wafer design technology, the servo is moving toward high precision. The field of motor control is an inevitable trend. In the implementation of the high-precision control method, the performance of the servo-controlled wafer or the resolution of the braided horse is extremely high, and the function and performance of the commercially available servo-controlled wafer or encoder are generally Use 'If you want to use special specifications to control the chip or encoder, edit; === This must seek to utilize the existing servo control chip and the method that must improve the performance of the servo drive. This method code: analysis of the wafer transfer Interface, at the same time improve the existing indoor environment bar; Second: the environment of the servo drive is more than the tolerance, or the recording must have more ... Should have the ability or method of filtering. The encoder with higher resolution has a higher resolution, and the encoder transmission is a parallel transmission, while the solution transmission is a truncated transmission, and its pin position 201025827 is lower and the resolution is lower. Dissatisfied with the control chip for data, and horse state with commercially available serial transmission, therefore; = 1: only supports parallel transmission, but does not support serial transmission, and wafer 2 for high resolution encoding driver The performance of the encoder will be: 2:;:", so the servo word control chip to do to achieve "Z to use the commercial servo drive specifications, if you want to hire 1 ... method to achieve high performance, you must increase - The data of the encoder with the resolution = resolution is not required to use the servo control aV port for the servo control chip. The wafer must also support the high-resolution output. The pure city (four) service control W is high, which is not conducive to a large number of uses. If the high resolution encoder is not used, usually, (4) the mechanism to achieve the low speed output requirements, but the use of the reducer 'the size of the servo motor mechanism will be Add a lot, the whole The body machine is high, and the speed reduction mechanism also has a life-threatening due to wear and tear = the maintenance and replacement of the second-and-two-day maintenance system, so the system cost is increased, and after the second structure, the high-low speed shift will be unsmooth, so The speed reduction control ratio can be long when the speed reduction mechanism is used, and the unproductive effect will be presented. The (4) is remarkable. The sentence has a low-speed control architecture for the improved servo motor. The US patent for the invention is US65, where the servo motor position is sensed. The wheel is the sine wave. After the sine wave is converted into a wafer by analog-digital conversion, after processing = part conversion 'Transfer the servo motor position, the square 5 201025827 used to compare the output data of the analog digital chip, after the table correspondence, according to the speed of the servo motor at that time, use different block modules to calculate the servo motor position and encode S The resolution is determined by the processing speed of the processing (4) and the number of computing bits, rather than a fixed resolution. Ο Ο The encoder of this case uses the encoder currently on the market, and its resolution rate has been fixed. 'The resolution is increased by the method proposed in this case. = The data is transmitted to the servo control chip. In the description of the case, the seedlings can be obtained from the conventional case and the purpose of the present invention is to improve the servo motor resolution 'but the difference is that the conventional case must first pass the servo 3 sensor sine wave signal through the analog digital chip, wherein the analogy The digital crystal will affect the resolution of the servo motor, and the resolution of the number of bits of the processor also has an influence 'and the servo chip must also have the transfer pin position (4). SUMMARY OF THE INVENTION Based on the above-mentioned prior art motor low speed control method and apparatus, the following is a main purpose of the present invention: a method of disc anger: 吏, his wafer and encoder, utilizing The method of broadcast calculation produces a two-resolution encoder signal that is transmitted to the existing servo control chip format '11's existing money. Μ Μ 奸 以 以 以 以 以 以 以 ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ Sb_ sister's signal quality, even in high noise environment, 'high 201025827 signal quality high resolution encoder and transmission error, so that low transmission signal can be affected without affecting the finer and wider speed control range. 1] Performance specifications can be achieved to achieve the above objectives, the present invention includes: ', ', a kind of servo motor low speed control equipped with a servo motor; and encoded bamboo encoder - by the servo motor After-sales output-low-resolution editing; J-degree (four), · an interpolation value calculation unit i, code signal, and low resolution by interpolation of the number of rounds" becomes high-resolution coding, 'make the low resolution The coded signal-servo control chip is rotated by the high resolution coded signal resolution coded signal by the second connection =: the output value of the insertion value calculation unit is 'order' and has internal parameters ~ nose processing round-out switch control name A power module, and a feed motor, adjust the switch to 2 = the switch control refers to the speed of the step-by-step (^). The description of the drawings and the detailed description of the invention, the description of the fee = is helpful by the following illustration.迠 迠 审查 审核 审核 审核 审核 审核 审核 审核 审核 审核 审核 审核 审核 审查 审查 审查 审查 审查 审查 审查 审查 审查 审查 审查 审查 审查 审查 审查 下列 下列 下列 下列 下列 下列 下列 下列 下列 下列 下列 下列 下列 下列 下列 下列 下列 下列 下列 下列 下列 下列 下列 下列The encoder interface can support the accuracy of the low speed 201025827 when it is on the market. It can also use the high resolution of the stone machine to improve the performance of the encoder. It is not the resolution of the encoder; The solution is therefore saved for the resolution of the coder, & the performance of the motivator, the use of the speed reduction mechanism, the volume Μ = the elasticity of the direction, and the description of the method can be saved. Small size, expansion * Practical 2 to estimate the resolution of the encoder of the motor driver's encoder to 'use the existing servo control chip' not only the performance of the 1 & 1. 1 original servo motor drive: At the same time, please refer to Figure 1 and Figure 2. The system includes: a servo horse (6); 'code: up: the fan control device gets the speed signal, and after the coding operation, the servo horse α I, The encoder output One wave signal, and the low resolution sound output by the ▲ resolution code = number or single-ended signal 'the encoder!: the number can be difference, the output format is parallel output; an insertion value calculation unit 3, flat code The composition of the # unit 3 of the signal includes: a low pass filter & an interpolation value counter 32, an interpolation value calculation unit 33, a position calculation unit edge detection unit: and a multiplexer 36, receiving the The encoder! rotates the analyzer, and interpolates the value to make the low resolution: degree coded the ^^ coded signal, and outputs the high resolution coded signal, which becomes the interpolation of the high solution unit 3. The numerical method is to increase the value of the ten-wave number by the code II, and provide the signal to the servo control chip % Λ 的 可以 可以 可以 可以 可以 可以 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制 控制The calculation method is based on the value of the interpolation value in the servo control chip 4, and the resolution value of the encoder 2 at that time, and calculates the I, the 'resolution number' and then according to the servo motor taste and the speed insert. Also P 7 leaf nose output frequency 8 201025827 ί value out J - servo The wafer 4 is configured to receive the inserted signal: 70, and output a high-resolution coded signal. After the operation process, the ''and the (four) part is reduced to set Wei, and the feeding service 2 has a total of te'/, and is mixed. The signal suppression chip 4 is connected to the ☆ ☆ differential money to a single-ended signal function; - the power module 5, the second and second 5 敕 control chip 4 switch control command to the servo motor 1 The speed of the servo motor 1 is 5 weeks. ❹ ❹ There are two kinds of connection interfaces for the servo control chip 4, and there are two kinds of interfaces corresponding to the receiving code. One is the parallel digital transmission, so the data can be directly transmitted to the servo control chip 4; For the incremental service control day L, the position of the interpolated value can be changed to the square wave output to the feeding station I杵: 曰. After the signal of the encoder 2 is processed and processed, it is transmitted to the chip 4, wherein the format of the encoder 2 is converted into a servo control chip 4, and the second interpolation value calculation unit 3 can use a programmable day UPGA. Internally, a low-pass filter 31 (LPF) filter is used: i is further processed by the edge detection unit 32, the interpolation value calculation unit 33, the bit difference element 34, the comparator 35, and the multiplexer 36 for conversion. The higher resolution coded signal is sent to the servo control chip. The system shown in Figure 4 is a detailed circuit diagram of Figure 3. The eight-AU step is used to expose the servo control chip 4. The components include: A speed ratio 'micro-controller 41, current proportional integral differential control m-electric control'd a speed monitor 44 and an encoder interface 45. The function of converting the servo unit interface 45 is also included in the insertion value calculation crystal service The method of the present invention for controlling the degree of improvement can be not limited by the input interface of the servo chip 4 and the encoder 2, and can be highly elastic for the type of the servo control 9 201025827. The advantages of the present invention are integrated. as follows: _沦 can understand (1) improve the resolution of the encoder; (7) for high noise environment, can be divided (4) (7) for different servo control chip encoder interface can be limited to the type of servo control chip; (4) Providing a better target for the servo driver. 贝 The needle reaches the low speed control Ο Refer to Figure 5, which is a schematic diagram of the operation flow of the insertion value meter control chip of the present invention, and please refer to the architecture of the servo disclosure, including There are the following steps: '· Figure 1, 4 61 ~ Coded Signal Input ' and tear input through a low pass filter 62 63 ' and through a low pass filter secret ::: - edge (four) single 7C receive the noise of the code Exhaustion (4), the letter, the edge detection unit triggers an interpolation value calculation unit; the coded signal is - square wave, the edge _ is the detection side: low potential method; ^ ^ 64~ interpolation value calculation unit simultaneously Receiving the encoded signal and the speed command, processing to increase the signal resolution; 7 ^ 65~ interpolation calculation unit completes the work of increasing the signal resolution, and outputs the signal resolution position; ' 4 ' a comparator Receiving a new signal resolution position of the interpolation value calculation unit, and receiving the preset signal resolution of the position calculation unit, and comparing the two, and determining whether the new signal resolution of the interpolation value calculation unit conforms to the preset signal resolution If the new signal resolution 66 201025827 of the interpolation calculation unit meets the preset signal resolution of the calculation unit, the signal resolution is output by a multiplexer; if the new signal resolution of the interpolation calculation unit does not conform to the calculation The preset signal resolution of the unit causes the interpolation value to calculate the $ yuan to continue the calculation process to increase the signal resolution; 67 to the servo control chip speed monitor to capture the signal resolution position; 68 to the servo control chip speed proportional integral control According to the speed monitor grabbing the signal resolution position and the current proportional integral derivative controller parameters, the speed at which the servo motor should be adjusted is calculated; ❿ 69~ servo control wafer operation processing outputs a switch control command. The above steps 63 to 66 are all completed inside the interpolation value calculating unit 8 and the steps 67 to 69 are all completed inside the servo control wafer 9. The servo motor's low speed can be precisely controlled by the operation of the two components. The loop time is the time it takes for the original architecture to be in each operation. If you do not use the flow shown in this architecture diagram, if you use an encoder in low-speed operation, the position information received by the servo control chip will change every time the loop time, resulting in the output of the control algorithm. If the waveform is transferred to the feeding control chip 9, the value calculated by each control (four) method will change. small. In step 63, the edge triggering change of the encoder is received, and the (four) insertion process is performed. The current speed command and the servo motor speed 'calculate a new position. After the interpolation condition is satisfied, the new position is output to the servo control chip, so that the new position is output to the servo control chip. The servo control chip is speed controlled according to the current position. As shown in Figure 6, the difference between the servo motor low speed control device 201025827 ' '(4) 3 is only the insertion value calculation = ^ 1 = service _4 internal, so the whole operation can be performed. The special function, ship control Inside the wafer, 'adding the ship control chip 4' is shown as the signal change diagram of the encoder output signal of the invention via interpolation and interpolation. The processing example of the present invention relates to the square wave of the encoder. :ί?: Get the high-resolution encoder signal, input to the servo-processed /, the middle T1 represents the period of the 编 Α phase signal, Α, and β, for the processing 2 3 =, output to the servo control chip . It can be seen from the figure that the number of servos is increased to twice that of the pre-processing, assuming that the original signal is _ pulses = 1000 pulse waves, and the two devices are incremented when the motor is lapped after processing. Type encoder signal change diagram, and then with the interpolation of the value of the interpolation, the incremental bat stone horse I solid example - when the invention of the round-off signal. He, because the output i two The mountain must decide the output of the solution as the formula for the calculation. After the square wave, the rebellion frequency needs to be determined. After that, according to the figure 5, the 1 square wave number and the frequency formula determine the process, and the inner trigger is satisfied. , Execute interpolation stream 201025827 Interpolation formula: (1) Output digital data form new position = current position speed command X maximum 1 speed interpolation maximum speed
(2)輸出方波形式 内插方波健N 想要的解析度 目前的解析度 __ /使用P大者細插頻率 命令頻率=Nx目前M^x目祕碼1躲轉速頻率 最高轉速 馬賴率=N xg|~联Μ X目祕碼i最冑轉速頻率 最高轉速 内插條件:⑴輸出數位資料形式 速度命令X最高速度内插值 最高速度 〈編碼[侧度數位資料 ⑵ϋΜ喊 _ 輸出方波個數〈内插方波個數Ν 於上列中提出了内插公式與内插條件，因為輸出資料 到伺服控制晶片有兩種輸出格式，因此計算公式也有不 同。當輸出為位置數位資料，計算的方式為根據當時速度 ® 命令與内插解析度來決定新的位置資料，而内插條件為計 ' 算出來的新的位置值不能超過原有編碼器的位置資料，因 為伺服馬達在低速運轉下，原有編碼器的位置資料在回路 時間内是沒有改變，若要執行内插，則内插數值必須介於 原有編碼器的刻度範圍内，否則會發生位置錯誤的情況； 若輸出為增量型編碼器方波資料時，内插條件為伺服控制 晶片所接收到内插方波的數目與頻率不能超過設定的解析 度範圍，而内插頻率的計算方式為採用伺服馬達速度與速 度命令去計算所需的頻率，因為要確保伺服控制晶片在伺 13 201025827 服馬達轉一圈時，所接 本發明與伺服控制晶片的=目為設定的解析度。 方式：⑴鳊碼器袼式方波(貝/)傳輸，總共有兩種傳輪 服控制晶片對於編碼器訊心==一般词 ❿ 過並列傳輸與晶片作資料:換：明晶片内部資料’可以透 接下來，配合圖五所斜★、 個相對應的硬體設計架構配人丄、#例流程。本發明提出- :部輸入，因此個別需要暫；器去：資:要:別速度與 异周期與一些數學運算， 、’因為需要計 ，單元處理相對應的計算與判：要學運算邏 因此需要去處理雜訊的運算，a τ科要處理雜訊問題， 的編碼器訊號，因此需要—組；二己合：同伺服晶片所需 運算，最後為了控制輸出訊號，所^^模組執行 Ο 因此為了達到本發明的目的，產 、、且處理界面。 架構整理如下 產生τ"解析度編碼器訊號， 邏輯與數學運算邏輯單元 暫存器. 產生編碼器訊號的單元 胃處理界面 其中暫存器内部儲存關於晶片的設定與編鈐 ί過與伺服控制晶片相容的傳輸格式，將晶料， ί:::資料交換的動作’伺服控制晶片可以將資料== 發明晶片’或是從本發明晶片傳輸到伺服控制晶 201025827 片0(2) Output square wave form interpolation square wave health N desired resolution current resolution __ / use P big fine insertion frequency command frequency = Nx current M ^ x secret code 1 hide speed frequency maximum speed horse Lay rate = N xg|~ Μ Μ X 目 secret code i 胄 胄 speed frequency maximum speed interpolation condition: (1) output digital data form speed command X highest speed interpolation value maximum speed <coding [side degree digital data (2) yell _ export side Wave number <interpolated square wave number 内 The interpolation formula and interpolation condition are proposed in the above column. Since the output data to the servo control chip has two output formats, the calculation formula is also different. When the output is position digital data, the calculation method is to determine the new position data according to the current speed® command and the interpolation resolution, and the interpolation condition is that the calculated new position value cannot exceed the position of the original encoder. Data, because the servo motor is running at low speed, the position data of the original encoder is not changed during the loop time. If interpolation is to be performed, the interpolation value must be within the scale range of the original encoder, otherwise it will happen. In the case of position error; if the output is incremental encoder square wave data, the interpolation condition is that the number and frequency of the interpolated square wave received by the servo control chip cannot exceed the set resolution range, and the interpolation frequency is calculated. The method is to use the servo motor speed and speed commands to calculate the required frequency, because it is necessary to ensure that the servo control chip is rotated one turn during the service of the servo motor. Mode: (1) 鳊 袼 袼 square wave (Bei /) transmission, a total of two types of transfer control chip for the encoder signal == general words 并 cross-parallel transmission and wafer for data: exchange: Ming wafer internal data ' Can be passed through, followed by Figure 5 oblique ★, a corresponding hardware design architecture with people, # example process. The invention proposes - part input, so the individual needs to be temporarily; the device goes: capital: to: different speed and different period and some mathematical operations, 'because the need to count, the unit processing corresponding to the calculation and judgment: to learn the operation logic Need to deal with the operation of the noise, a τ section to deal with the noise problem, the encoder signal, so need - group; two own: the same operation required for the servo chip, and finally to control the output signal, ^ ^ module execution Ο Therefore, in order to achieve the objectives of the present invention, the interface is produced, and processed. The architecture is organized as follows to generate a τ"resolution encoder signal, a logical and mathematical logic unit register. A unit processing interface for generating an encoder signal, wherein the register is internally stored and programmed with respect to the wafer. Compatible transport format, the crystal material, ί::: data exchange action 'servo control chip can transfer data == invention wafer' or transfer from the invention wafer to servo control crystal 201025827
習^本案的功能、手段及效果比較： 習知案件技術 本案新技術 功 能 得到高解析度的伺服馬達 ^ 器 利用現有編碼器，提高編碼器的 解析度 技 術 手 段 *——- 刊用伺服馬達角度感測 器’透過類比數位晶片， 使用數位處理器計算，得 到高解析度的伺服馬達位 利用現有編碼器’使用訊號處理的 技巧’透過使用FPGA晶片實現，使 得伺服馬達位置的解析度提高，符 合系統設計規格 效 果 —^ _ 伺服馬達的解析度依據類 比數位晶片的位元數與數 位處理器的位元數，使用 f可以依據不同解析度的 5求’得到不同解析度的 負料，但是，如此一來增 t使用者的成本，且數位 ，理器的位置資料輸出袼 式必須符合伺服控制晶片 因為使用現有編碼器得到伺服馬 達位置資料，且利用FPGA晶片實 現訊號處理的技巧，因此伺服馬 達位置解析度可以讓使用者自己 設定，且輸出資料格式也可以符 合現有的伺服控制晶片編碼器界 面，如此一來成本與解析度給予 使用者非常大的彈性，且因為解 析度提高，對於伺服驅動控制的 精確度可以大大提升。 示’二^所述，本發明之結構特徵及各實施例皆已詳細揭 之進步Z充分顯不出本發明案在目的及功效上均深富實施 見之運用極具產業之利用價值，且為目前市面上前所未 專利之要件依專利法之精神所述，本發明案完全符合發明 能以之所述者，僅為本發明之較佳實施例而已’當不 利範圍2疋本發明所實施之範圍，即大凡依本發明申請專 作之均等變化與修飾’皆應仍屬於本發明專利涵 15 201025827 . 蓋之範圍内，謹請 貴審查委員明鑑，並祈惠准’是所 至禱。Comparison of the functions, means and effects of the book: The case technology of the case The new technology function of the case is obtained by the high-resolution servo motor. The existing encoder is used to improve the resolution of the encoder. The sensor 'passes the analog digital chip and uses the digital processor to calculate the high-resolution servo motor. Using the existing encoder's 'signal processing technique', by using the FPGA chip, the resolution of the servo motor position is improved. System design specification effect—^ _ The resolution of the servo motor is based on the number of bits of the analog digital chip and the number of bits of the digital processor. Using f can be used to obtain different resolutions according to the different resolutions. However, In this way, the cost of the user is increased, and the digits of the position data output of the processor must conform to the servo control chip. Because the servo encoder position data is obtained by using the existing encoder, and the signal processing technique using the FPGA chip is performed, the servo motor is used. The location resolution can be set by the user himself. Output data format may conform to a conventional servo controller encoder interface wafer, the cost and resolution result gives the user great flexibility and because of the improved parsing, the precise control of the servo drive can be greatly enhanced. The structural features and the embodiments of the present invention have been disclosed in detail, and the Z has been fully demonstrated that the present invention has a very industrial use value in terms of its purpose and efficacy. The present invention is fully compliant with the invention as described in the spirit of the patent law, and is merely a preferred embodiment of the present invention. The scope of implementation, that is, the equal change and modification of the application for the invention according to the invention shall still belong to the patent of the invention culvert 15 201025827. Within the scope of the cover, I would like to ask your review committee to give a clear explanation and pray for the prayer .
16 201025827 , 【圖式簡單說明】 ' 圖一係為習知美國發明專利US6556131號之圖式； 圖二係為本發明插入值計算單元之内部架構圖； 圖三係為本發明伺服馬達低速控制裝置之功能方塊示意 圖， 圖四係為圖三較為詳細電路架構圖； 圖五係為本發明插入值計算單元與伺服控制晶片之動作流 程不意圖， 〇 圖六係為本發明伺服馬達低速控制裝置之另一功能方塊示 意圖； 圖七係為本發明編碼器輸出信號經由插入值計算單元經由 内插數值處理後的信號變化圖； 圖八係為本發明編碼器為增量型編碼器時所輸出信號經由 插入值計算單元經由内插數值處理後的信號變化圖。 【主要元件符號說明】 ❿ 1〜伺服馬達 . 2〜編碼器 3、8〜插入值計算單元 31〜低通慮波器 32〜邊緣偵測單元 33〜内插值計算單元 34〜位置計算單元 3 5〜比較器 36〜多工器 201025827 4、9〜伺服控制晶片 41〜速度比例積分微分控制器 . 42〜電流比例積分微分控制器 43〜電流偵測器 44〜速度監測器 45〜編碼器界面 5〜電源模組 61〜編碼信號輪入，並經由一低通濾波器濾除雜訊 © 62〜速度命令輪入，並經由一低通濾波器濾除雜訊 63〜一邊緣偵測單元接收已濾除雜訊之編碼信號，該編碼 信號使邊緣偵測單元觸發一内插值計算單元作動 64〜内插值計算單元同時接收編碼信號及速度命令，計算 處理以增加訊號解析度 65〜内插值計算單元完成增加訊號解析度的工作，並將新 的號解析度位置輸出 66〜一比較器接收内插值計算單元新的訊號解析度位置， © 並接收位置計算單元所預設訊號解析度’並將二者加 ， 以比較，並判斷内插值計算單元新的訊號解析度是否 符合預設訊號解析度 67〜伺服控制晶片的逮度監測器抓取訊號解析度位置 68〜伺服控制晶片的速度比例積分控制器根據速度監測器 抓取訊號解析度位置以及電流比例積分微分控制器的 參數，來計算伺服馬達應調整之速度 6 9〜伺服控制晶片運鼻處理後輸出一開關控制指令16 201025827 , [Simple description of the drawing] ' Figure 1 is a schematic diagram of the US invention patent US6556131; Figure 2 is the internal architecture diagram of the insertion value calculation unit of the present invention; Figure 3 is the low speed control of the servo motor of the present invention The functional block diagram of the device, FIG. 4 is a more detailed circuit architecture diagram of FIG. 3; FIG. 5 is a schematic flow diagram of the insertion value calculation unit and the servo control chip of the present invention, and FIG. 6 is the servo motor low speed control device of the present invention. FIG. 7 is a schematic diagram of signal changes after the encoder output signal is processed by the interpolation value calculation unit via the interpolation value; FIG. 8 is the output of the encoder when the encoder is an incremental encoder. The signal is subjected to interpolation of the value-processed signal change map via the interpolation value calculation unit. [Description of main component symbols] ❿ 1 to servo motor. 2 to encoder 3, 8 to insertion value calculation unit 31 to low-pass filter 32 to edge detection unit 33 to interpolation value calculation unit 34 to position calculation unit 3 5 ~ Comparator 36~ multiplexer 201025827 4, 9~ servo control chip 41~ speed proportional integral derivative controller. 42~ current proportional integral derivative controller 43~ current detector 44~ speed monitor 45~ encoder interface 5 ~ Power module 61 ~ coded signal is rounded, and filtered by a low-pass filter to remove noise © 62 ~ speed command wheeled, and filtered through a low-pass filter 63 to an edge detection unit has received Filtering the coded signal of the noise, the coded signal causes the edge detection unit to trigger an interpolation value calculation unit to operate 64 to the interpolation value calculation unit to simultaneously receive the coded signal and the speed command, and the calculation process is performed to increase the signal resolution 65 to the interpolation value calculation unit. Complete the work of increasing the signal resolution, and output the new number resolution position 66~ a comparator receives the new signal resolution position of the interpolation value calculation unit, © and receives the position Calculate the preset signal resolution of the unit' and add the two to compare and determine whether the new signal resolution of the interpolation value calculation unit conforms to the preset signal resolution 67~ the servo monitor chip capture monitor grabs the signal analysis Degree position 68~ servo control chip speed proportional integral controller according to the speed monitor grabs the signal resolution position and the current proportional integral derivative controller parameters to calculate the servo motor should be adjusted speed 6 9~ servo control chip nose processing Output a switch control command